The Minerva Project

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The Minerva Project

• Jeremiah F. Cowden
• Carolin L. Karim
• Jason H. Kummerl
• Rachel A. Schaefer
• Matthew P. Spahr

Final Presentation December 12, 2003 CSE
480 Senior Design Dr. Richard E. Haskell
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The Minerva Project Outline Part I

• Part I Overview
• Introduction
• Automated Highway Systems
• Top-Level Design
• Cost Analysis
• Part II Components
• Part III Design
• Part IV Conclusion

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The Minerva Project Introduction

• Minerva
• Roman goddess of education and science
• Project definition
• Create a sophomore design class
• Students from all engineering disciplines
• Prerequisites
• CSE 141 Computer Problem Solving in
  Engineering and Computer Science using Visual
  Basic
• CSE 171 Introduction to Digital Logic and
  Microprocessors
• A sample projectdesign a car
• Path detection
• Collision avoidance

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The Minerva Project Top-Level Design

• Pre-built car from Radio Shack
• OOPic Board
• Magnevation H-Bridge
• Original Motor
• Futaba S3003
• Sharp GP2D12
• Fairchild QRB1114

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The Minerva Project Cost Analysis

• 1 R/C car 20
• 1 OOPic board 79
• 1 Magnevation Dual
• PWM 3 Amp
• LT H-Bridge 75
• 1 Futaba S3003 servo 10
• 5 Fairchild QRB1114 sensors _at_ 89 4.45
• 1 Sharp GP2D12 sensor 8.25
• 2 rods _at_ 2 4

• 1 set of springs 2
• 1 Breadboard 1
• 3 Battery holders
• _at_ 1.66 5
• 3 9V batteries _at_ 1.33 4
• 16 AA batteries _at_ 37 6
• Miscellaneous 5
• Total 222.70
• Over-Budget 22.70

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The Minerva Project Outline Part II

• Part I Overview
• Part II Components
• OOPic
• oServoX Object
• oDCMotor Object
• Part III Design
• Part IV Conclusion

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The Minerva Project OOPic
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The Minerva Project OOPic (cont.)

• Language Optionsobjects are the same between
  them
• Visual Basic
• Java
• C

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The Minerva Project OOPic (cont.)

• 96 Bytes for firmware objects

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The Minerva Project oServoX Object

• Included in the board firmware
• Uses one digital I/O line
• Capable of positioning an RC servo anywhere
  within its 180º rotational span
• Range -64 to 63 where 0 is center
• Sends an RC servo repeated PWM signals until it
  reaches the specified position

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The Minerva Project oServoX Object (cont.)

• IOLine property
• Specifies which of 31 I/O lines is to be used
• Must be set before the Operate property is set to
  1
• Operate property
• Set to 1 to continuously output PWM control pulse
  to servo
• Results in servo holding position specified by
  the Value property
• Set to 0, the object sets I/O line to 0 volts
• Results in servo not holding a position, allowing
  it to be changed manually

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The Minerva Project oServoX Object (cont.)

• Offset property
• Sets the value of the center of the servo
• An offset of 0 allows positioning at values -64
  to 63
• An offset of 64 allows positioning at values 0 to
  127
• An offset of -64 allows positioning at values
  -128 to -1
• Value property
• Range -128 to 127
• Specifies position of the servo
• InvertOut property
• Specifies if output pulse is reversed

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The Minerva Project oDCMotor Object

• Included in the board firmware
• Uses three digital I/O lines to control a DC
  motor
• Speed IOLineP
• Braking IOLineB
• Direction IOLineD

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The Minerva Project oDCMotor Object (cont.)

• Value property
• Range of -128 to 127 or 0 to 255
• When Unsigned bit is 0, Value has range of -128
  to 127,
• When Unsigned bit is 1, Value has range of 0 to
  255
• Direction property
• Value of 0 or 1, setting the direction to forward
  or reverse
• If the InvertOutD property is 1, direction is
  opposite
• Brake property
• Value of 0 or 1, turning the brake off and on
• If the InvertOutB property is 1, direction is
  opposite

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The Minerva Project Outline Part III

• Part I Overview
• Part II Components
• Part III Design
• Hardware Design
• Software Design
• Virtual Circuits
• Virtual Circuits Code
• Part IV Conclusion

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The Minerva Project Overview
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The Minerva Project Hardware Design
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The Minerva Project Controller Boards
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The Minerva Project Controller Boards (cont.)
Sensor Breadboard
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The Minerva Project Sensor Rack
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The Minerva Project Under Body
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The Minerva Project Software Design

• Rapid prototyping
• Servo
• Motor
• Distance sensor
• Line sensors
• Sluggish response with looping
• Quick response with virtual circuits

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The Minerva Project Virtual Circuits
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The Minerva Project Virtual Circuit Code

1. mSensor_C.Input.Link( C )
2. mSensor_C.Output.Link( Sensor_Value )
3. gSensor_C.Input1.Link( Sensor_C )
4. gSensor_C.Output.Link( mSensor_C.Operate )
5. gSensor_C.Operate cvTrue
6. Index_Servo.Array.Link( Buff_Servo )
7. Index_Servo.Index.Link( Sensor_Value )
8. Index_Servo.Unit.Link( Servo.Value )
9. Index_Servo.Operate cvTrue

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The Minerva Project Virtual Circuit Code
(cont.)

• Buff_Servo.Location R2
• Buff_Servo.Value 64 20
• Buff_Servo.Location R1
• Buff_Servo.Value 64 10
• Buff_Servo.Location C
• Buff_Servo.Value 64
• Buff_Servo.Location L1
• Buff_Servo.Value 64 - 10
• Buff_Servo.Location L2
• Buff_Servo.Value 64 - 20

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The Minerva Project Outline Part IV

• Part I Overview
• Part II Components
• Part III Design
• Part IV Conclusion
• Overall Performance
• Picture of car
• Lessons learned
• References

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The Minerva Project Overall Performance

• Follows a straight line
• Follows a curved line
• Follows a 90º turn
• Slows down while turning
• Stops to avoid objects

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The Minerva Project Picture of Car
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The Minerva Project Real Picture of Car
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The Minerva Project Lessons Learned

• Jason has zero short term memory and is insane
• Carolin likes Corona
• Rachel is growing
• Dont let other groups see your project
• Rachel's attendance to class 1 - Rest of group
  99
• Great group dynamic
• Class should have been held at Mongolian Barbeque
  with Stacia or Diana
• Matt never wears a coat

• Jeremiah learned to be a player! (3)
• Loudest funniest group
• Home Depot is the best place for RC car building?
• Our car eats batteries up Yummy Style
• OOPic is easier than the rest of the boards
• KISS Keep It Simple, Stupid
• SEB 133 Great for meeting guys gals
• CSE 480 BEST CLASS EVER!

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The Minerva Project Real Lessons Learned

• Rechargeable batteries are cheaper in the long
  run
• Single distance sensor is not adequate
• The more line sensors the more accurate the
  response
• 0.2 is almost impossible to achieve after
  running into a wall

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The Minerva Project References

• http//www.wikipedia.org/wiki/Automated_highway_sy
  stems
• http//www.aaroads.com/high-priority/corr16.html
• http//www.path.berkeley.edu/PATH/Publications/Med
  ia/FactSheet/pprogram.pdf
• http//www.berkeley.edu/news/media/releases/97lega
  cy/DEMO_97.html
• http//future.newsday.com/10/fmon1011.htm
• http//www.itsonline.com/ahsra1.html
• http//www.ivsource.net/archivep/2000/aug/a000831_
  chauffeur.html
• http//faculty.washington.edu/jbs/itrans/bishopahs
  .htm
• http//www.cert.ucr.edu/research/project.asp?proje
  ct97
• http//electronickits.com/kit/complete/remote/ck19
  00.htm
• http//www.oopic.com
• http//www.oopic.com/servo.htm
• http//www.dprg.org/tutorials/1998-04a/
• http//www.magnevation.com/descriptionpwmx2a.htm

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The Minerva Project

• HAPPY HOLIDAYS!!!